U.S. patent application number 13/719633 was filed with the patent office on 2013-06-20 for automatic pool cleaner for cleaning a pool with minimum power consumption and method thereof.
This patent application is currently assigned to Aquatron Robotic Technology Ltd.. The applicant listed for this patent is Aquatron Robotic Technology Ltd.. Invention is credited to Joseph PORAT.
Application Number | 20130152970 13/719633 |
Document ID | / |
Family ID | 45855208 |
Filed Date | 2013-06-20 |
United States Patent
Application |
20130152970 |
Kind Code |
A1 |
PORAT; Joseph |
June 20, 2013 |
AUTOMATIC POOL CLEANER FOR CLEANING A POOL WITH MINIMUM POWER
CONSUMPTION AND METHOD THEREOF
Abstract
An automatic pool cleaner, comprising a pump unit, a control
unit and a sensor, the sensor configured to detect foreign objects
in the pool. The control unit configured to activate the pump unit
at a first power level which is less then full power when a foreign
object is not detected by the sensor, and further configured to
activate the pump unit at a second power level, which is greater
than the first power level, in response to a signal from the sensor
unit indicating the detection of a foreign object.
Inventors: |
PORAT; Joseph; (Delray
Beach, FL) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Aquatron Robotic Technology Ltd.; |
Afula |
|
IL |
|
|
Assignee: |
Aquatron Robotic Technology
Ltd.
Afula
IL
|
Family ID: |
45855208 |
Appl. No.: |
13/719633 |
Filed: |
December 19, 2012 |
Current U.S.
Class: |
134/18 ;
15/1.7 |
Current CPC
Class: |
E04H 4/1654
20130101 |
Class at
Publication: |
134/18 ;
15/1.7 |
International
Class: |
E04H 4/16 20060101
E04H004/16 |
Foreign Application Data
Date |
Code |
Application Number |
Dec 19, 2011 |
IL |
217093 |
Claims
1. An automatic pool cleaner, comprising: a pump unit; a sensor
unit comprising a sensor, the sensor configured to detect foreign
objects; and, a control unit coupled to the sensor unit and the
pump unit, the control unit configured to activate the pump unit at
a first power level which is less then full power when a foreign
object is not detected by the sensor, and further configured to
activate the pump unit at a second power level, which is greater
than the first power level, in response to a signal from the sensor
unit indicating the detection of a foreign object.
2. The automatic pool cleaner according to claim 1, wherein the
sensor unit is mounted so as to have a sensed region located
underneath the automatic pool cleaner.
3. The automatic pool cleaner according to claim 1, wherein the
sensor unit is mounted so as to have a sensed region located along
a current anticipated motion path of the automatic pool
cleaner.
4. The automatic pool cleaner according to claim 1, wherein the
sensor unit comprises an optical sensor.
5. The automatic pool cleaner according to claim 1, wherein the
pump unit is powered by a battery.
6. The automatic pool cleaner according to claim 1, wherein the
pump unit is powered by an external power source.
7. The automatic pool cleaner according to claim 1, wherein the
control unit is further configured to operate the automatic pool
cleaner at fixed time intervals.
8. A method for cleaning a pool with minimum power consumption
comprising: configuring an automatic pool cleaner to traverse a
surface while operating one or more sensors, to detect foreign
objects; operating a pump unit of the automatic pool cleaner at a
first power level, less then full power, when a foreign object is
not detected; and, operating the pump unit at a second power level,
which is greater than the first power level, when a foreign object
is detected.
9. The method of claim 8, wherein the automatic pool cleaner is
configured to operate the pump to maintain a straight course in the
face of asymmetry.
10. The method of claim 8, wherein said one or more sensors are
configured to provide a sensed region along a current anticipated
motion path of the automatic pool cleaner.
11. The method of claim 8, wherein said one or more sensors are
configured to provide a sensed region located underneath the
automatic pool cleaner.
12. The method of claim 8, wherein said one or more sensors
comprise one or more optical sensors.
13. A method for cleaning a pool with minimum power consumption
comprising: activating an automatic pool cleaner at a regular fixed
time interval to traverse a surface while operating at least one
sensor to detect foreign objects while employing a pump unit at a
first power level, the first power level being less then full
power, when a foreign object is not detected; and, employing the
pump unit at a second power level, which is greater than the first
power level, when a foreign object is detected.
14. The method of claim 13, wherein said at least one sensor is
configured to provide a sensed region along a current anticipated
motion path of the automatic pool cleaner.
15. The method of claim 13, wherein said at least one sensor is
configured to provide a sensed region located underneath the
automatic pool cleaner.
16. A method for cleaning a pool with minimum power consumption
comprising: activating an automatic pool cleaner for a fixed time
interval to traverse a surface while operating one or more sensors
to detect foreign objects; configuring the automatic pool cleaner
to determine if there is a foreign object on the surface by
comparing a current image of the surface with a reference image
obtained by said one or more sensors; configuring the automatic
pool cleaner to move toward the foreign object on the surface;
configuring the automatic pool cleaner to employ a pump unit at a
first power level to vacuum up the foreign object; and, configuring
the automatic pool cleaner to employ the pump unit at a second
power level less then the first power level when a foreign object
is not detected.
17. The method of claim 16, wherein said one or more sensors
comprise an optical sensor which is configured to provide a sensed
region along a current anticipated motion path of the automatic
pool cleaner.
18. The method of claim 16, wherein said one or more sensors
comprise an optical sensor which is configured to provide a sensed
region located underneath the automatic pool cleaner.
Description
FIELD OF THE INVENTION
[0001] The invention relates to automatic pool cleaners, in
particular, the invention relates to battery operated automatic
pool cleaners and their method of operation.
BACKGROUND
[0002] Automatic pool cleaners are used for cleaning surfaces,
including underwater surfaces in commercial and residential pools.
Some automatic pool cleaners operate independently and are battery
operated to allow for flexibility in cleaning options. Automatic
pool cleaners in swimming pools require a pump unit to draw water
through a filter unit that traps foreign objects--including dirt or
debris, but allows water to pass through the filter unit back into
the pool. Typically the pump unit consumes a significant portion of
the power of an automatic pool cleaner.
[0003] Many automatic pool cleaners are corded, receiving power
from an external power source via a cable, necessitating a power
source near the pool. Cables tend to be heavy and may tend to get
tangled. Further, cables add to the overall weight of automatic
pool cleaners. Cables also create a hazard outside of the pool,
with the potential for people to trip over the cable. Cables
further make the poolside look untidy.
[0004] Some automatic pool cleaners draw their power from onboard
batteries. Typically, battery operated automatic pool cleaners
require no external power cables. However, battery operated
automatic pool cleaners may necessitate frequent charging due to
the power consumed by the cleaning mechanisms, with the frequent
charging depleting overall battery life. Further, battery life
between charges is typically limited, limiting the amount of
cleaning an automatic pool cleaner can do between charges.
[0005] With the pump unit consuming a significant portion of the
onboard battery's energy, it may be possible to reduce power
consumption to a minimum by reducing the amount of time the pump
unit is operational during the standard cleaning time of an
automatic pool cleaner; for example, operating the pump only when
onboard sensors detect foreign objects. Automatic pool cleaners
that consume less power typically need less charging, and can clean
more between charges, consequentially requiring less human
intervention in their daily and long-term operations, and allowing
for longer battery life.
SUMMARY OF THE INVENTION
[0006] It is therefore an object of the present invention to
provide an automatic pool cleaner including, a pump unit, a sensor
unit comprising a sensor, the sensor configured to detect foreign
object, and a control unit coupled to the sensor unit and the pump
unit, the control unit configured to activate the pump unit at a
first power level which is less then full power when a foreign
object is not detected by the sensor, and further configured to
activate the pump unit at a second power level, which is greater
than the first power level, in response to a signal from the sensor
unit indicating the detection of a foreign object.
[0007] Furthermore, in accordance with some embodiments of the
present invention, said sensor unit is mounted so as to have a
sensed region located underneath the automatic pool cleaner.
[0008] Furthermore, in accordance with some embodiments of the
present invention, said sensor unit is mounted so as to have a
sensed region located along a current anticipated motion path of
the automatic pool cleaner.
[0009] Furthermore, in accordance with some embodiments of the
present invention, said sensor unit sensor unit comprises an
optical sensor.
[0010] Furthermore, in accordance with some embodiments of the
present invention, said pump is powered by a battery.
[0011] Furthermore, in accordance with some embodiments of the
present invention, said pump unit is powered by an external power
source.
[0012] Furthermore, in accordance with some embodiments of the
present invention, said control unit is further configured to
operate the automatic pool cleaner at fixed time intervals.
[0013] There is further provided, in accordance with some
embodiments of the present invention, a method for cleaning a pool
with minimum power consumption, the method including configuring an
automatic pool cleaner to traverse a surface while operating one or
more sensors, to detect foreign objects, operating a pump unit of
the automatic pool cleaner at a first power level, less then full
power, when a foreign object is not detected and, operating the
pump unit at a second power level, which is greater than the first
power level, when a foreign object is detected.
[0014] Furthermore, in accordance with some embodiments of the
present invention, said automatic pool cleaner is configured to
operate the pump to maintain a straight course in the face of
asymmetry.
[0015] Furthermore, in accordance with some embodiments of the
present invention, said one or more sensors are configured to
provide a sensed region along a current anticipated motion path of
the automatic pool cleaner.
[0016] Furthermore, in accordance with some embodiments of the
present invention, said one or more sensors are configured to
provide a sensed region located underneath the automatic pool
cleaner.
[0017] Furthermore, in accordance with some embodiments of the
present invention, said one or more sensors comprise one or more
optical sensors.
[0018] There is further provided, in accordance with some
embodiments of the present invention, a method for cleaning a pool
with minimum power consumption, the method including, activating an
automatic pool cleaner at a regular fixed time interval to traverse
a surface while operating at least one sensor to detect foreign
objects while employing a pump unit at a first power level, the
first power level being less then full power, when a foreign object
is not detected, and employing the pump unit at a second power
level, which is greater than the first power level, when a foreign
object is detected.
[0019] Furthermore, in accordance with some embodiments of the
present invention, said at least one sensor is configured to
provide a sensed region along a current anticipated motion path of
the automatic pool cleaner.
[0020] Furthermore, in accordance with some embodiments of the
present invention, said at least one sensor is configured to
provide a sensed region located underneath the automatic pool
cleaner.
[0021] There is further provided, in accordance with some
embodiments of the present invention, method for cleaning a pool
with minimum power consumption, the method including activating an
automatic pool cleaner for a fixed time interval to traverse a
surface while operating one or more sensors to detect foreign
objects, configuring the automatic pool cleaner to determine if
there is a foreign object on the surface by comparing a current
image of the surface with a reference image obtained by said one or
more sensors, configuring the automatic pool cleaner to move toward
the foreign object on the surface, configuring the automatic pool
cleaner to employ a pump unit at a first power level to vacuum up
the foreign object, and configuring the automatic pool cleaner to
employ the pump unit at a second power level less then the first
power level when a foreign object is not detected.
[0022] Furthermore, in accordance with some embodiments of the
present invention, said one or more sensors comprise an optical
sensor which is configured to provide a sensed region along a
current anticipated motion path of the automatic pool cleaner.
[0023] Furthermore, in accordance with some embodiments of the
present invention, said one or more sensors comprise an optical
sensor which is configured to provide a sensed region located
underneath the automatic pool cleaner.
BRIEF DESCRIPTION OF THE DRAWINGS
[0024] In order to better understand the present invention, and
appreciate its practical applications, the following Figures are
provided and referenced hereafter. It should be noted that the
Figures are given as embodiments only and in no way limit the scope
of the invention. Like components are denoted by like reference
numerals.
[0025] FIG. 1 is a schematic illustration of an automatic pool
cleaner according to some embodiments of the current invention;
[0026] FIG. 2A is a schematic illustration of an automatic pool
cleaner according to some embodiments of the current invention;
[0027] FIG. 2B is a schematic illustration of an underside of an
automatic pool cleaner according to some embodiments of the current
invention;
[0028] FIG. 3A is a schematic illustration of a sensor unit
according to some embodiments of the current invention;
[0029] FIG. 3B is a schematic illustration of a sensor unit
according to an embodiment of the current invention;
[0030] FIG. 4 is a flow chart of a method of operating the
automatic pool cleaner, according to an embodiment of the current
invention; and,
[0031] FIG. 5 is a flow chart of a method of operating the
automatic pool cleaner, according to an embodiment of the current
invention.
[0032] It will be appreciated that for simplicity and clarity of
illustration, elements shown in the figures have not necessarily
been drawn to scale. For example, the dimensions of some of the
elements may be exaggerated relative to other elements for clarity.
Further, where considered appropriate, reference numerals may be
repeated among the figures to indicate corresponding or analogous
elements.
DETAILED DESCRIPTION OF THE INVENTION
[0033] In the following detailed description, numerous specific
details are set forth in order to provide a thorough understanding
of the methods and apparatus. However, it will be understood by
those skilled in the art that the present methods and apparatus may
be practiced without these specific details. In other instances,
well-known methods, procedures, and components have not been
described in detail so as not to obscure the present methods and
apparatus.
[0034] Although the embodiments disclosed and discussed herein are
not limited in this regard, the terms "plurality" and "a plurality"
as used herein may include, for example, "multiple" or "two or
more". The terms "plurality" or "a plurality" may be used
throughout the specification to describe two or more components,
devices, elements, units, parameters, or the like. Unless
explicitly stated, the method embodiments described herein are not
constrained to a particular order or sequence. Additionally, some
of the described method embodiments or elements thereof can occur
or be performed at the same point in time.
[0035] Unless specifically stated otherwise, as apparent from the
following discussions, it is appreciated that throughout the
specification, discussions utilizing terms such as "adding",
"associating" "selecting," "evaluating," "processing," "computing,"
"calculating," "determining," "designating," "allocating" or the
like, refer to the actions and/or processes of a computer, computer
processor or computing system, or similar electronic computing
device, that manipulate, execute and/or transform data represented
as physical, such as electronic, quantities within the computing
system's registers and/or memories into other data similarly
represented as physical quantities within the computing system's
memories, registers or other such information storage, transmission
or display devices.
[0036] FIG. 1 is a schematic illustration of an automatic pool
cleaner 10 according to some embodiments of the current invention.
Automatic pool cleaner 10 typically comprises a housing 80, a
connection for battery charging 20, a battery, inside housing 80,
the battery described below with reference to FIG. 2A, drive wheels
30 and track 40 for moving automatic pool cleaner 10, one or more
sensor mountings 50, one or more sensors 60, a brush 70 for uses
known in the art, a handle 90 for uses known in the art, and a pump
outlet 100 for a pump unit, the pump unit described below with
reference to FIG. 2A.
[0037] In some embodiments, the pump outlet may be configured to
eject water drawn up into the automatic pool cleaner through an
intake, the intake described below with reference to FIG. 2B.
[0038] Typically water enters the automatic pool cleaner through
the intake. Water may then pass through a filter unit, the filter
unit described with reference to FIG. 2A. Water may then pass
through the pump unit, and out pump outlet 100, while trapping
foreign objects--including dirt or debris, in the filter unit.
[0039] Housing 80, sensor mounting 50 and connection for battery
charging 20 may be watertight.
[0040] Control unit, as described, for example, below with
reference to FIG. 2A, may be configured to activate automatic pool
cleaner 10 at set intervals. In some embodiments of the current
invention, automatic pool cleaner 10 may be configured to be
activated by the control unit at a regular or fixed time intervals,
for example, between 2 and 10 times per week, e.g., once every 24
hours.
[0041] Sufficient light is typically required for some types of
sensors 60 to operate, typically image sensors. When the pool is in
darkness or low light, automatic pool cleaner 10 may be configured
to cease all operations. In some embodiments of the current
invention, automatic pool cleaner 10 may have an additional sensor,
described below, to determine ambient light.
[0042] When activated at a regular or fixed time interval,
automatic pool cleaner 10 may be typically programmed to run a
cleaning cycle for a set fixed time interval. In some embodiments
of the current invention, automatic pool cleaner 10 may be
programmed to run for 30 minutes to 120 minutes, e.g., 45 minutes
to 90 minutes. The automatic pool cleaner may be typically
configured to transverse the surfaces of the pool during a cleaning
cycle autonomously. Numerous algorithms for autonomous operation of
pool cleaners are known in the art.
[0043] Automatic pool cleaner 10 may, operate continuously during
cleaning cycles. Typically, when automatic pool cleaner 10 is
employing an image sensor, automatic pool cleaner 10 may continue
on a straight path until automatic pool cleaner 10 reaches a wall.
In some examples, automatic pool cleaner 10 changes direction, and
or turns, if it encounters an obstacle.
[0044] In some examples, the automatic pool cleaner executes turns
according to a pre-programmed algorithm as are known in the art,
such as, for example, the algorithm, described in U.S. Pat. No.
6,815,918.
[0045] In some examples the control unit will activate the pump
after each turn that the robot makes, if foreign objects are sensed
by the image sensor. In other examples, the control unit would
activate the pump in another manner, if no foreign objects are
within the field of view of the sensor.
[0046] In some embodiments of the current invention, the control
unit may also modify the operation of drive wheels 30 of automatic
pool cleaner 10, for example, moving the wheels more slowly, or
backing up over a foreign object discovered by sensor 60.
[0047] Sensor 60 may be typically a component of sensor unit 150,
described in reference to FIGS. 3a and 3b. Automatic pool cleaner
10 may have one or more sensor units 150 connected to the control
unit. Sensor 60 may be coupled to control unit as described, for
example, below in reference to FIG. 2A.
[0048] Sensor 60 may have a sensed region, the sensed region being
a field of view of sensor 60, when sensor 60 is an optical sensor,
or the extent of the observable area over which information can be
extracted at any given moment by sensor 60, when sensor 60 is any
other kind of sensor known in the art.
[0049] Typically, sensor 60 may be an optical sensor that is known
in the art. Examples of sensors include, but are not limited to,
color sensors, reflectivity sensors, and image sensors. Sensor 60
may be configured to scan a surface of the pool for foreign
objects, i.e., traversing a surface while operating one or more
sensors to detect foreign objects, and send data to the control
unit regarding the results of the scan, the scan not limited to
optical scans but may include scans made by other non-optical
sensors known in the art. In some embodiments, the sensor may be
another type of sensor capable of determining whether there may be
a foreign object in the path of automatic pool cleaner 10, or in
the surroundings of automatic pool cleaner 10.
[0050] Typically, automatic pool cleaner 10 does not have an
absolute front or back; it travels both forward and backwards.
Automatic pool cleaner may have a relative front and a relative
back, wherein the relative front is facing the current anticipated
motion path of the automatic pool cleaner and the relative back
relative is facing the opposite direction of the current
anticipated motion path of the automatic pool cleaner. Typically
sensor 60 is mounted to automatic pool cleaner such that the sensor
provides a sensed region directed at the area in front of the
relative front of automatic pool cleaner 10, i.e., facing the
current anticipated motion path of automatic pool cleaner. In some
applications, a second sensor 60 is mounted to the automatic pool
cleaner such that sensor 60 provides a sensed region directed at
the area behind the automatic pool cleaner in the opposite
direction of the current anticipated motion path of the automatic
pool cleaner, i.e., the sensor may be mounted on the relative back
of automatic pool cleaner 10. The sensed region of sensor 60 may
not be limited to fields of view of optical sensors, but may
include other fields of view of other non-optical sensors known in
the art.
[0051] Automatic pool cleaner 10 may have at least one motor, as
described below with reference to FIG. 2A. Typically, automatic
pool cleaner 10 may have two motors, described below in reference
to FIG. 2A. At least one of the motors may be configured to be
connected to the control unit and further connected to drive wheels
30.
[0052] In some embodiments, a motor may be configured to be coupled
to pump unit 230, described below in reference to FIG. 2A. Control
unit, in response to a signal from sensor 60, indicating the
presence of foreign objects, may send a signal to the motor to
power pump unit 230. Typically, the pump unit may include an axial
type pump powered by a brush or brushless DC motor. Other types of
pumps and motors known in the art may also be used.
[0053] Typically, a measure of hysteresis may be included in the
activation of the pump unit so as to prevent frequent start/stop
operation when dirt, debris and foreign objects in the pool are
patchy or unevenly distributed.
[0054] FIG. 2a is a schematic illustration that includes internal
components of the automatic pool cleaner. Typically, automatic pool
cleaner 10 has an intake, as described below with reference to FIG.
2B, on an underside of the automatic pool cleaner, configured to
draw water into a filter unit 220. In some embodiments of the
current invention, filter unit 220 may include a filter bag or a
filter cartridge. Typically, filter unit 220 may be configured to
be removed periodically and emptied of foreign objects. In some
embodiments, filter unit 220 may be periodically disposed of and
replaced.
[0055] Typically, water and foreign objects may be drawn through
intake and into filter unit 220 via vacuum suction created by pump
unit 230. Pump unit 230 may be typically powered by motor 240. In
some embodiments of the current invention, motor 250 may power
wheels 30. Motors 240 and 250 are typically connected to control
unit 280. Control unit 280 typically contains a
micro-controller.
[0056] Motor 240, and in some embodiments, motor 240 which may
power the pump unit and motor 250 which may power wheels 30, may be
powered by one or more batteries 260. In some embodiments of the
current invention, batteries 260 are rechargeable. Typically,
batteries 260 may be nickel metal hydride (NiMH), lithium ion
(Li-ion), Lithium-iron-phosphate (LiFePO.sub.4), or lithium ion
polymer (Li-ion polymer), or other batteries known in the art. In
some embodiments, motor 240 and or more motor 250 are powered by an
external power source.
[0057] In some embodiments of the current invention, motor 240
powers pump unit 230. Motor 240 may be powered down completely
unless motor 240 receives a signal from control unit 280 to power
up pump unit 230. In some embodiments, pump unit may be powered up
to a first power level to maintain a straight course in the face of
asymmetry. Typically, uneven pool surfaces or uneven wear on the
cleaners tracks or wheels create instances of asymmetry for
automatic pool cleaner 10. Other forms of asymmetry known in the
art may also require a powered up pump unit to maintain a straight
course for automatic pool cleaner. In some applications, the pump
unit may be powered up to maintain any course known in the art for
automatic pool cleaners. Typically, when partially powered up, the
pump unit uses between 0% and 50% of power, e.g., 30% of power.
[0058] In some embodiments, pump unit 230 may be powered up to a
second power level, the second power level may be equal to full
power, in response to control unit 280 sending a signal to power up
pump unit 230 when foreign objects are detected by sensor 60. In
other embodiments, when powered at a second power level, the pump
may be only partially powered up, the level of power depending on
factors relevant to cleaning the surfaces of the pool.
[0059] In some applications of the current invention, automatic
pool cleaner 10 may have a sensor 305 to determine ambient light
conditions. Sensor 305 may send a signal to control unit 280 to
either stop to delay operation until there is sufficient light for
sensor 60 to be effective. In some applications, sensor 305 may
send a signal to control unit 280 to operate a light source 300.
Light source 300 may be a high brightness light emitting diode
(LED) or a number of LEDs, or other forms of illumination. Light
source 300 may provide sufficient ambient light for sensor 60 to
operate even when ambient light outside the pool is too low for
sensor 60 to operate.
[0060] FIG. 2B is a schematic illustration of an underside of
automatic pool cleaner 10. Underside 400 may be positioned to be
sufficiently close to a pool surface such that robot cleaner 10 can
vacuum up foreign objects via pump unit 230 as describe, e.g.,
herein.
[0061] In some embodiments of the current invention, automatic pool
cleaner 10 may have wheels 30 and track 40, and at least one intake
410 on the underside of automatic pool cleaner 10. Typically intake
410 is configured to be far enough from sensor 60 such that pump
unit 230 has sufficient time to power-up and vacuum up foreign
objects in response to the foreign object being sensed by sensor
60.
[0062] In some embodiments the sensed region of sensor 60 is
directed toward the current anticipated direction of motion of
automatic pool cleaner 10. In some embodiments of the current
invention, automatic pool cleaner 10 may have at least one sensor
60 connected to underside 400. In other embodiments, the sensed
region of sensor 60 may be beneath automatic pool cleaner 10, and
may be wider, narrower, or equal to the width of automatic pool
cleaner 10. In some embodiments, other non-optical sensors known in
the art may also be used.
[0063] FIG. 3A is a schematic illustration of a sensor unit 150.
Typically, sensor unit 150 may be configured to be removable from
the automatic pool cleaner 10. In some embodiments of the current
invention, sensor unit 150, or sensors 60 within sensor unit 150,
may be encapsulated or in a resin filled enclosure. In some
embodiments, a second sensor unit may be connected to automatic
pool cleaner 10 after sensor unit 150 is removed. In some
embodiments, an additional sensor unit can be connected to
automatic pool cleaner 10 without removing sensor unit 150.
[0064] Sensor unit 150 may be configured to be connected to
automatic pool cleaner 10 with a watertight seal.
[0065] In some embodiments, sensor unit 150 may be connected to
housing 80 of automatic pool cleaner 10, typically via connector
160. Sensor unit 150 typically may have a cable 170 configured to
connect control unit 280, described with reference to FIG. 2A, to
sensor 60. Sensor unit 150 may also include a sensor housing 180,
the sensor housing configured to house sensor 60, the sensor
configured to be in communication with the control unit via cable
170. Typically data may be sent to control unit 280 in automatic
pool cleaner 10 from sensor unit 150 via a serial data link.
[0066] Cable 170 may also be configured to send power to sensor
unit 150 from a power source in automatic pool cleaner 10.
Typically batteries 260, as described with reference to FIG. 2A,
provide power to sensor unit 150. Sensor unit 150 may also have a
threading 180. Threading 180 may be configured to securely connect
sensor unit 150 to automatic pool cleaner 10.
[0067] Sensor unit may be connected to control unit 280 via an
industry standard M12 connector. Typically, this connection may be
watertight. In other applications, other connectors known in the
art may also be used.
[0068] Typically, sensor unit 150 may include an electronic
circuit, 165. Electronic circuit 165 may include a
microcontroller.
[0069] FIG. 3B is a schematic drawing of sensor unit 150 described
heretofore with reference to FIG. 3A with exceptions noted. Sensor
unit 150 may include a linear array optical sensor 190. In some
embodiments of the current invention, linear array optical sensor
190 may be housed within sensor housing 180. Sensor housing 180 may
be transparent. In some applications, sensor housing 180 may also
contain an illumination source 205 (e.g. a white light source).
Illumination source 205 may be similar to light source 300
described above with reference to FIG. 2A. Sensor housing 180 may
also contain an electronic circuit 165, and a color sensor 155, the
color sensor may include an array of detectors and color filters
combined with a light source. In some embodiments, sensor housing
180 may house an array of color sensors. Electronic circuit 165, as
described with reference to FIG. 3A, may be configured to decode
and format the information derived from the sensors, and further
configured to connect to a digital data bus to send data to control
unit 280 in automatic pool cleaner 10.
[0070] In some embodiments of the current invention, sensor unit
150 includes an image sensor 185, for example an active-pixel
sensor (APS), a complementary metal--oxide--semiconductor (CMOS)
sensor, or a charge-coupled device (CCD) sensor. Other sensors that
may be used in digital cameras, or other sensor devices that are
known in the art, may also be used. The image sensor may be
typically configured to determine the cleanliness state of the
pool, in particular, a surface within the pool. In some
embodiments, image sensor 185 may be configured to determine the
patchiness of color on the pool floor, and distinguish foreign
objects that result in a sensed evenness that is different from the
evenness depicted in a reference image.
[0071] The image sensor may provide an image to an image processor
195, which may be configured to compare the current image with a
reference image, typically with respect to color and texture. The
image processor may facilitate identifying foreign objects lying on
the surface of the pool. Typically, the image processor may take
advantage of the uniform coloring of most residential pools, in
comparing a current image with a reference image. The image
processor may also not need to know the exact location of automatic
pool cleaner 10 in the pool to determine whether a foreign object
has been detected by a sensor, given the relative uniform coloring
typically found in most residential pools.
[0072] Sensor housing 180 may also contain one or more other
optical sensors; the optical sensors may include those that are
known in the art. Sensor unit 150 may also include a sensor window
200 in sensor housing 180.
[0073] FIG. 4 is a flow chart of a method for operating automatic
pool cleaner, according to an embodiment of the current
invention.
[0074] In some embodiments of the invention, automatic pool cleaner
10 may clean a pool with minimum power consumption, wherein
automatic pool cleaner 10 traverses a surface while operating one
or more sensors 60, to detect foreign objects, as depicted in block
500. Automatic pool cleaner may traverse the pool at a first power
level. Automatic pool cleaner 10 may employ sensors 60 while
traversing the pool to search for or look for foreign objects, as
depicted as diamond 505. Automatic pool cleaner 10 may not detect
or find a foreign object. While traversing the pool, automatic pool
cleaner 10 may operate pump unit 230 at a first power level, less
then full power, when a foreign object is not detected, as depicted
in block 510. Automatic pool cleaner 10 may find and/or detect a
foreign object. Automatic pool cleaner may operate pump unit 230 at
a second power level, which is greater than the first power level,
when a foreign object is detected, as depicted in block 520.
[0075] In some embodiments of the invention, automatic pool cleaner
10 may operate at regular and/or fixed time intervals, for example,
as described above. In some embodiments of the invention, automatic
pool cleaner 10 may not operate at regular and/or fixed time
intervals.
[0076] FIG. 5 is a flow chart of a method of operating the
automatic pool cleaner, according to an embodiment of the current
invention.
[0077] In some examples, automatic pool cleaner 10 may clean a pool
with minimum power consumption, wherein automatic pool cleaner 10
is activated at a regular fixed time interval to traverse a surface
while operating one or more sensors 60, to detect foreign objects,
as depicted in block 600. While traversing the pool, automatic pool
cleaner 10 may operate pump unit 230 at a first power level, less
then full power, when a foreign object is not detected, as depicted
in block 610. Automatic pool cleaner may operate pump unit 230 at a
second power level, which is greater than the first power level,
when a foreign object is detected, as depicted in block 620.
[0078] FIG. 5 is a flow chart of a method for operating automatic
pool cleaner, according to an embodiment of the invention.
[0079] In some embodiments of the invention, a method for cleaning
a pool with minimum power consumption includes activating an
automatic pool cleaner for a fixed time interval to traverse a
surface while operating one or more sensors to detect foreign
objects, as depicted as box 600.
[0080] The method may further include configuring the automatic
pool cleaner to determine if there is a foreign object on the
surface by comparing a current image of the surface with a
reference image obtained by said one or more sensors, as depicted
as diamond 610.
[0081] When no foreign object is detected, Box 630 depicts of the
portion of the method that may include configuring the automatic
pool cleaner to employ a pump unit at a first power level. The
first power level may be 0% power.
[0082] When a foreign object is detected, the method may include
configuring the automatic pool cleaner to move toward the foreign
object on the surface, as depicted as box 620. In some embodiments
of the inventions, automatic pool cleaner may employ algorithms to
move toward the foreign object. The algorithms may determine an
optimal path to reach the foreign object. The algorithms may
determine an optimal path for automatic pool cleaner 10 to advance
over foreign object to vacuum up foreign object. Algorithms may be
used to determine size shape, orientation and other characteristics
of the foreign object in determining how automatic pool cleaner
should advance toward, reach and pass over the foreign object.
[0083] Automatic pool cleaner may move toward foreign object a
first power level and vacuum foreign object at a second power
level. Automatic pool cleaner may move toward a suspected foreign
object at a power level, and when reaching suspected foreign
object, changing power levels in response to newly discovered
characteristics of the foreign object, including, in some
embodiments of the invention, false positives.
[0084] Box 640 depicts a portion of the method wherein automatic
pool cleaner may employ the pump unit at a second power level in
response to detecting and/or moving toward the foreign object. The
second power level may be greater than the first power level. The
second power level may be optimized given detected characteristics
of the foreign object. The second power level may be one or a
plurality of power levels depending on characteristics associated
the foreign object, including, in some embodiments of the
invention, distance from the automatic pool cleaner.
[0085] Examples of the present invention may include apparatuses
for performing the operations described herein. Such apparatuses
may be specially constructed for the desired purposes, or may
comprise computers or processors selectively activated or
reconfigured by a computer program stored in the computers. Such
computer programs may be stored in a computer-readable or
processor-readable non-transitory storage medium, any type of disk
including floppy disks, optical disks, CD-ROMs, magnetic-optical
disks, read-only memories (ROMs), random access memories (RAMs)
electrically programmable read-only memories (EPROMs), electrically
erasable and programmable read only memories (EEPROMs), magnetic or
optical cards, or any other type of media suitable for storing
electronic instructions. It will be appreciated that a variety of
programming languages may be used to implement the teachings of the
invention as described herein. Examples of the invention may
include an article such as a non-transitory computer or processor
readable non-transitory storage medium, such as for example, a
memory, a disk drive, or a USB flash memory encoding, including or
storing instructions, e.g., computer-executable instructions, which
when executed by a processor or controller, cause the processor or
controller to carry out methods disclosed herein. The instructions
may cause the processor or controller to execute processes that
carry out methods disclosed herein.
[0086] Different embodiments are disclosed herein. Features of
certain embodiments may be combined with features of other
embodiments; thus certain embodiments may be combinations of
features of multiple embodiments. The foregoing description of the
embodiments of the invention has been presented for the purposes of
illustration and description. It is not intended to be exhaustive
or to limit the invention to the precise form disclosed. It should
be appreciated by persons skilled in the art that many
modifications, variations, substitutions, changes, and equivalents
are possible in light of the above teaching. It is, therefore, to
be understood that the appended claims are intended to cover all
such modifications and changes as fall within the true spirit of
the invention.
[0087] While certain features of the invention have been
illustrated and described herein, many modifications,
substitutions, changes, and equivalents will now occur to those of
ordinary skill in the art. It is, therefore, to be understood that
the appended claims are intended to cover all such modifications
and changes as fall within the true spirit of the invention.
* * * * *